Help with setting up ODrive to work with Magic Pie motor


I am giving to my project a different approach and I just want to compare the way you interact odrive-teensy…Can you please share the teensy code you are currently using ?



My previous sketch was not very interesting because I just used odrive.SetPos.
I tried to make an algorithm for smooth motion using linear dependence on the current position.

Here is the sketch with teensy code (odrive,serial<->PC,threads)

Here is the explanation of algoritm

Here is the smooth moving at the maximum speed of which I managed to achieve


Thank you for help, i made 3xmotor manipulator.
Now I will move on and combine it with the object recognition and gripper.